CN108555968A - Mobile robot with wireless charging function - Google Patents
Mobile robot with wireless charging function Download PDFInfo
- Publication number
- CN108555968A CN108555968A CN201810577626.7A CN201810577626A CN108555968A CN 108555968 A CN108555968 A CN 108555968A CN 201810577626 A CN201810577626 A CN 201810577626A CN 108555968 A CN108555968 A CN 108555968A
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- Prior art keywords
- wireless charging
- mobile robot
- main control
- control chip
- charge
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- 238000004891 communication Methods 0.000 claims abstract description 38
- 230000004044 response Effects 0.000 claims abstract description 10
- 230000005611 electricity Effects 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims 2
- 238000012546 transfer Methods 0.000 abstract description 5
- 238000003860 storage Methods 0.000 description 19
- 230000006870 function Effects 0.000 description 10
- 230000032258 transport Effects 0.000 description 10
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000009826 distribution Methods 0.000 description 4
- 238000000429 assembly Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000000151 deposition Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 229910018095 Ni-MH Inorganic materials 0.000 description 1
- 229910018477 Ni—MH Inorganic materials 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The embodiment of the invention discloses a kind of mobile robots with wireless charging function, belong to Intelligent logistics technical field, the mobile robot, including chassis, shell, driving motor, running gear, transfer, charge power supply, communication device, wireless charging receiver and main control chip, the main control chip is in the mobile robot because execution task is when workspace is waited in line and/or when being advanced through path of travel area, it controls the communication device and sends wireless charging request to the wireless charging emitter positioned at workspace and/or path of travel area, and control wireless charging receiver charges for the charge power supply when the communication device receives wireless charging response.By the scheme of the application, the working efficiency of mobile robot is improved.
Description
Technical field
The present invention relates to Intelligent logistics technical fields, more particularly to the mobile robot with wireless charging function.
Background technology
Along with the development of e-commerce, new retail mode constantly rises, and people's shopping idea is also constantly changing, and starts
Increasingly focus on consumption experience, and timeliness plays a crucial role user experience.
Warehouse Service plays a crucial role the timeliness of kinds of goods as the important link of consumption service behind.Mesh
Preceding major loglstics enterprise both at home and abroad is all accelerating the throughput speed in warehouse to improve the timeliness of kinds of goods by every means, reduces cargo
Haulage time.The intelligent storage scheme of mainstream mainly has automatic stereo storage solution and intelligent storage robot solution at present
Certainly scheme., all using cargo is directly taken " goods to people " form in face of sorter, wherein automatic stereo storage picks up goods for it
It is efficient, handling capacity is big, but builds and maintenance cost is high, inflexible for use.Though and to pick up goods efficiency too late for intelligent storage robot
Automatic stereo storage, but occupation mode is flexible, input cost is low, and input and output are higher, and operation maintenance is flexible.
The intelligent robot storage robotic solutions of goods to people have obtained large-scale popularization, since robot is usual
It is to be worked using the battery of its own carrying, during robot transports cargo, due to transporting mileage or transporting goods
The restriction of object weight, it will usually robot be caused the case where dead battery occur during transporting cargo.Alternatively, in order to protect
The robot that card transports cargo has sufficient electricity, and robot is in the case of remaining certain electricity, it is necessary to go in advance pre-
If destination charge, the operation of the frequent charge of robot can reduce the utilization rate of robot.
Invention content
In current automated warehousing robot system, it is generally the case that if not carrying out rational electricity and path
Planning, robot, which will appear, transports the case where partly electricity exhausts on the way.Robot frequently carries out charging operations simultaneously, also can shadow
Ring the service efficiency of robot.
In view of this, the embodiment of the present invention provides a kind of mobile robot with wireless charging function, it is at least part of
Solve problems of the prior art.
An embodiment of the present invention provides a kind of mobile robots with wireless charging function, including：
A kind of mobile robot with wireless charging function, including chassis, shell, driving motor, running gear and
Transfer further includes：
Charge power supply, the charge power supply provide electric power for the mobile robot；
Communication device, the communication device and the wireless charging emitter positioned at workspace and/or path of travel area are logical
Letter connection, for sending wireless charging request and receiving wireless charging response；
Wireless charging receiver, the wireless charging receiver are that the charge power supply executes wireless charging operation；
And
Main control chip, the main control chip the mobile robot because execution task when workspace is waited in line and/
Or when being advanced through path of travel area, the communication device is controlled to the wireless charging positioned at workspace and/or path of travel area
Emitter sends wireless charging request, and control wireless charging receives when the communication device receives wireless charging response
Device charges for the charge power supply.
A kind of specific implementation according to the ... of the embodiment of the present invention, further includes electric quantity detection apparatus, the electric power detection dress
It sets the voltage value for detecting the charge power supply in real time and is transferred to the main control chip；
The main control chip controls the communication device and the voltage value is sent to server；
The communication device is also connect with the server communication, is additionally operable to send the voltage value and receive to fill
Electricity instructs and is transferred to the main control chip；
The main control chip controls the communication device to positioned at workspace and/or path of travel area according to charging instruction
Wireless charging emitter send wireless charging request, and the communication device receive wireless charging response when control nothing
Line charging receiver charges for the charge power supply.
A kind of specific implementation according to the ... of the embodiment of the present invention, the mobile robot further include electric quantity detection apparatus,
The electric quantity detection apparatus detects the voltage value of the charge power supply and is transferred to the main control chip in real time；
When the voltage value is less than first threshold, communication device described in the main control chip active control to positioned at
The wireless charging emitter in workspace and/or path of travel area sends wireless charging request, and is received in the communication device
Wireless charging receiver is controlled when responding to wireless charging to charge for the charge power supply.
A kind of specific implementation according to the ... of the embodiment of the present invention, when the voltage value is greater than or equal to first threshold
When, the main control chip controls the running gear and avoids being equipped with wireless charging automatically when being advanced through the path of travel area
The region of emitter, alternatively, the main control chip control the wireless charging receiver when workspace is waited in line and/
Or wireless charging operation is not executed when being advanced through the path of travel area.
A kind of specific implementation according to the ... of the embodiment of the present invention, when the voltage value is greater than or equal to first threshold
When, the main control chip is controlled the running gear and is run with First Speed.
A kind of specific implementation according to the ... of the embodiment of the present invention, when the voltage value is less than first threshold, institute
The main control chip control running gear is stated to be advanced through in the path of travel area equipped with wireless charging transmitting with second speed
The region of device, the second speed are less than First Speed.
A kind of specific implementation according to the ... of the embodiment of the present invention, the wireless charging receiver, including：
One or more charge coils, one or more of charge coils be set to the mobile robot chassis or
On shell.
A kind of specific implementation according to the ... of the embodiment of the present invention, the mobile robot further include：
Obstacle avoidance apparatus, the obstacle avoidance apparatus obtain the position coordinates of the mobile robot to charge on mobile route,
And control the mobile robot that mobile robot automatic dodging is charging.
A kind of specific implementation according to the ... of the embodiment of the present invention, the obstacle avoidance apparatus carry out wireless charging in mobile robot
When electric, other mobile robots into predeterminable area send avoidance signal.
A kind of specific implementation according to the ... of the embodiment of the present invention, the system also includes：
Charging converter, the charging converter are converted to the wireless signal for sensing the charge coil chargeable
Electric current；
Power calculator, the power match device determine filling for the charge coil according to the size of the chargeable electric current
Electrical power, the main control chip estimate charge capacity and remaining charging time based on the charge power.
A kind of mobile robot with wireless charging function provided in an embodiment of the present invention, by being arranged in robot
Wireless charging module, the robot that can make can carry out charging operations in workspace, utilize machine while work
People is lined up or transports the off time of cargo, carries out effective Charge Management so that robot be not necessarily to when electricity is low into
Row charging operations, and then improve the transport efficiency of robot.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this field
For those of ordinary skill, without creative efforts, other attached drawings are can also be obtained according to these attached drawings.
Fig. 1 is a kind of mobile robot structural schematic diagram with wireless charging function provided in an embodiment of the present invention；
Fig. 2 is a kind of mobile work robot environment schematic provided in an embodiment of the present invention；
Fig. 3 is a kind of target shelf structure schematic diagram provided in an embodiment of the present invention；
Fig. 4 is the flow diagram that a kind of mobile robot provided in an embodiment of the present invention carries out wireless charging.
Specific implementation mode
The embodiment of the present invention is described in detail below in conjunction with the accompanying drawings.
It will be appreciated that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained without creative efforts it is all its
Its embodiment, shall fall within the protection scope of the present invention.
Referring to Fig. 1, the embodiment of the present invention discloses a kind of mobile robot with wireless charging function, the mobile robot
Including chassis, shell, driving motor, running gear 101 and transfer 102, running gear 102 is for driving mobile machine
People advances on preset direction, transfer 102 can in predetermined angle moving in rotation robotic conveyance article, driving electricity
Machine provides onward impulse for mobile robot, and chassis is the support device of mobile robot, and shell is arranged in mobile robot
Outer surface.Sometimes, in order to lift the article in mobile robot, lifting device can also be set in mobile robot
103。
In order to carry out wireless charging operation, mobile robot further includes charge power supply 105, communication device 106, wireless
Charging receiver 108 and main control chip 107.
Charge power supply 105 may be used a plurality of types of rechargable power supplies and design, for example, charge power supply 105 can be with
It is lead accumulator, lithium battery, Ni-MH battery or other similar rechargeable batteries, the drive in charge power supply and mobile robot
Dynamic motor connection, by providing power supply for driving motor, it is ensured that the power resources in mobile robot.In addition to this, it fills
Power supply 105 also provides electric power for the other assemblies in the mobile robot.
Fig. 2 discloses a kind of specific works scene of mobile robot 1, and an embodiment of the present invention provides one kind to have wirelessly
The mobile robot of charge function, including mobile robot 1, workspace 4, path of travel area 6.
Mobile robot 1 is responsible for conveying articles, and mobile robot 1 can be communicated with scheduling control server 3, by with service
Device 3 is communicatively coupled, and the mobile robot 1 can obtain list content.The list content can be the need according to user
The goods orders sorted, can include various types of article (commodity to be sorted) in list, on same list
Article to be sorted need to pack by one or more utensils (for example, turnover box).The corresponding article of list usually requires to make
It is placed with storage container (for example, case of walking around), after mobile robot 1 obtains the content of list, can choose and transport
It send and the relevant storage container of the list 4.As an example.
It is equipped with workspace 4 in operation console attachment, operation console works for distributing article to be transported to mobile robot 1
Multiple scenes that area 4 is applied to goods transportation can be used for item picking for example, workspace 4 can be used for goods sorting,
Or other application scenarios operated to article are can be used for, here, the application scenarios to workspace 4 do not limit
System.
Mobile robot 1 is in the task of execution, it usually needs waits in line operation console to mobile robot 1 in workspace 4
The distribution of carry out task (for example, the article that distribution is to be transported, or the article transported in mobile robot 1 is sorted etc.),
At this point, mobile robot 1 usually requires to wait for a period of time in workspace 4, for this purpose, the lower section in the workspace 4 is equipped with nothing
Micro USB electricity transmitting terminal 5.
Wireless charging transmitting terminal 5 can carry out radio hair with various ways such as electromagnetic coupling, photoelectric coupling, electromagentic resonances
It penetrates.
Article is generally being transported to operation console by mobile robot 1 from shelf 2, and system is provided with path of travel area 6 thus,
Mobile robot 1 is advanced when executing task in the path of travel area, and the path of travel area is equipped with one or more charge
Region is equipped with wireless charging transmitting terminal 5 in the charged area.By the way that multiple charged areas are arranged in path of travel area, make
Robot is obtained during article is carried in path of travel area, it can also side working edge charging.
Communication device 106 in mobile robot 1 ensures that mobile robot is effectively communicated to connect with outside.It is described
Communication device is communicated to connect with the wireless charging emitter 5 positioned at workspace 4 and/or path of travel area 6, wireless for sending
Charge request and reception wireless charging response.By this setup, it can ensure that mobile robot 1 effectively carries out nothing
Micro USB is electrically operated.
Wireless charging receiver 108 is capable of the electromagnetic signal of the induction wireless charging transmitting of transmitting terminal 5, the wireless charging
Reception device 108 is that the charge power supply 105 executes wireless charging operation.
Main control chip 107 is the wireless charging control unit of mobile robot 1, and the main control chip 107 is in the movement
Robot controls the communication device because execution task is when workspace is waited in line and/or when being advanced through path of travel area
Wireless charging request is sent to the wireless charging emitter positioned at workspace and/or path of travel area, and is filled in the communication
Control wireless charging receiver 107 when receiving wireless charging response is set to charge for the charge power supply 105.
Mobile robot before charge, needs the charge condition for detecting itself, a kind of tool according to the ... of the embodiment of the present invention
Body realization method, referring to Fig. 1, mobile robot further includes electric quantity detection apparatus 104, and the electric quantity detection apparatus 104 is examined in real time
It surveys the voltage value of the charge power supply and is transferred to the main control chip 107.
Referring to Fig. 2, mobile robot 1 can be communicated with server 3, specifically, the main control chip 107 controls institute
It states communication device 106 and the voltage value is sent to server 3.
The communication device 106 is also communicated to connect with the server 3, is additionally operable to send the voltage value and be connect
It receives charging instruction and is transferred to the main control chip 107.
After the charging instruction for receiving the transmission of server 3, the main control chip 107 controls institute according to charging instruction
It states communication device 106 and sends wireless charging request to the wireless charging emitter positioned at workspace and/or path of travel area, and
When the communication device receives wireless charging response, control wireless charging receiver charges for the charge power supply.
In order to obtain the charge condition in mobile robot, a kind of specific implementation side according to the ... of the embodiment of the present invention
Formula, the mobile robot further include electric quantity detection apparatus, and the electric quantity detection apparatus detects working as the charge power supply in real time
Preceding charge value is simultaneously transferred to the main control chip；
When the voltage value is less than first threshold, communication device described in the main control chip active control to positioned at
The wireless charging emitter in workspace and/or path of travel area sends wireless charging request, and is received in the communication device
Wireless charging receiver is controlled when responding to wireless charging to charge for the charge power supply.
Mobile robot can carry out charging operations, a kind of specific reality according to the ... of the embodiment of the present invention according to a variety of strategies
Existing mode, referring to step S401~S404 in Fig. 4, when the voltage value is greater than or equal to first threshold, the master
Running gear described in control chip controls is avoided being equipped with wireless charging emitter when being advanced through the path of travel area automatically
Region, alternatively, the main control chip controls the wireless charging receiver when workspace is waited in line and/or is advancing
By the way that wireless charging operation is not executed when the path of travel area.
A kind of specific implementation according to the ... of the embodiment of the present invention, referring to step S404, when the voltage value is more than
Or when equal to first threshold, the main control chip is controlled the running gear and is run with First Speed.First Speed can be moved
Movement velocity under mobile robot normal operating conditions, First Speed can also be more than under mobile robot normal operating conditions
Movement velocity.
Mobile robot determines different movement velocitys according to voltage value, according to the ... of the embodiment of the present invention a kind of specific
Realization method, when the voltage value is less than first threshold, the main control chip controls the running gear with the second speed
Degree is advanced through the region that wireless charging emitter is equipped in the path of travel area, and the second speed is less than the first speed
Degree.
Wireless charging receiver may be used a variety of form designs and form, a kind of specific reality according to the ... of the embodiment of the present invention
Existing mode, the wireless charging receiver, including：One or more charge coils, one or more of charge coils are set
It is placed on chassis or the shell of the mobile robot.By this setup, mobile robot can be made preferably to receive
Wireless charging signal.
More robot is during executing charging, it is possible to entire mobile robot transportation system can be caused to occur
The case where congestion, it is therefore desirable to carry out dynamic path rule to entirely transporting network according to the case where mobile robot wireless charging
It draws.A kind of specific implementation according to the ... of the embodiment of the present invention, the mobile robot further include：Obstacle avoidance apparatus, the avoidance
Device obtains the position coordinates of the mobile robot to charge on mobile route, and controls mobile robot automatic dodging just
In the mobile robot of charging.By this setup, the transmission effect that mobile robot transports network can be effectively improved
Rate.
In order to effectively improve avoidance efficiency, obstacle avoidance apparatus can also send avoidance letter from other mobile robots of trend
Breath, a kind of specific implementation according to the ... of the embodiment of the present invention, the obstacle avoidance apparatus mobile robot carry out wireless charging when,
Other mobile robots into predeterminable area send avoidance signal.So, mobile robot does not have to through server just
Can avoidance signal directly be sent to other mobile robots, this point-to-point communication mode improves the timely of signal transmission
Property.
Mobile robot needs the efficiency for controlling wireless charging during charging.According to the ... of the embodiment of the present invention one
Kind specific implementation, the system also includes charging converter and power calculators.
Charging converter is converted to the wireless signal (such as electromagnetic signal) for sensing the charge coil chargeable
Electric current, power match device determine the charge power of the charge coil, the master control core according to the size of the chargeable electric current
Piece estimates charge capacity and remaining charging time based on the charge power.
Fig. 3 is a kind of schematic diagram of shelf 2 provided in an embodiment of the present invention, and storage container can be shelf with sorting container
A kind of 2 specific implementation form, 2 storage article 7 of shelf.In a particular embodiment, shelf 2 include multiple storage bins, each to store up
Article 7 can be accommodated by depositing case.In addition, in a particular embodiment, the hook or bar that article 7 can also be out of shelf 2 or on shelf 2
It is hung.Article 7 can be placed on the inside or outer surface of shelf 2 in any suitable manner on shelf 2.2 energy of shelf
It is enough to be rolled by mobile robot 1, carry or otherwise move.Shelf 2 are moved in order to facilitate transfer robot, goods
Frame 2 includes one or more support portions 202 and the interim identification of pallets point 201 for identifying interim shelf identity, and article is deposited
Place system may include any an appropriate number of shelf 2.
The representative of article 7 is suitable for storage sorting or transmission in automated inventory, warehouse, manufacture and/or part handling system
Any article, can be any material, can have life or abiotic object.As an example, article 7 can
To indicate the article for the commodity being stored in warehouse.Mobile robot 1 can retrieve specified shelf 2, which includes and to beat
The associated special article 7 of customer order of packet, to be delivered to client or its other party.
As another example, article 7 can represent the luggage being stored in the luggage facility on airport.Mobile robot 1
The shelf 2 for including the luggage that be transported, track can be fetched.This may include that the specific luggage and articles of selection are used for explosive
Screening, mobile luggage and articles associated with the flight that converted boarding gate, or remove to belong to and had already passed by flight
Passenger luggage and articles.
As another example, article 7 can indicate the various components of manufacture kit.More specifically, these components
It can indicate to intend to include in the component in completed knocked down products, such as the computer module for order computer system.In this way
Embodiment in, mobile robot 1 can retrieve the specific components by being identified with the relevant specification of customer order.
As another example, article 7 can be with representative.For example, in hospital environment, shelf 2 can be indicated comprising spy
Determine the bed of patient.Therefore, article storage system can be configured as the safely and effectively system provided for mobile hospital sick bed,
Which has limited the possibility of patient injury and reduce wrong possibility caused by mistake.In short, article 7
It can be suitable for any suitable article that shelf 2 in any appropriate form store.
In operation, mobile robot 1 can move between the point in the associated working space of article storage system
It is dynamic, and when being coupled to shelf 2, shelf 2 can be transported between the position in working space, grabbing device can also be passed through
Obtain the sorting object on target shelf.Based on the order received, mobile robot 1 can determine the movement of mobile robot 1
Destination.For example, in a particular embodiment, the administrator or managing device (example that mobile robot 1 can be from article storage system
Such as, dispatch server 3) in receive identification mobile robot 1 destination information.Mobile robot 1 can be by wirelessly connecing
Mouthful, wired connection or receive information using any other suitable component, in order to article storage system operator or
Managing device is communicated.Usually, the order based on control managing device or operator, can entirely or partly control shifting
Mobile robot 1 is to any desired place.
Corresponding with mobile robot 1, referring to Fig. 2, the invention also discloses a kind of wireless charging systems of mobile robot
System, provides a kind of wireless charging system of mobile robot, including mobile robot 1, workspace 4, path of travel area 6.
Mobile robot 1 is responsible for conveying articles, and mobile robot 1 can be communicated with scheduling control server 3, by with service
Device 3 is communicatively coupled, and the mobile robot 1 can obtain list content.The list content can be the need according to user
The goods orders sorted, can include various types of article (commodity to be sorted) in list, on same list
Article to be sorted need to pack by one or more utensils (for example, turnover box).The corresponding article of list usually requires to make
It is placed with storage container (for example, case of walking around), after mobile robot 1 obtains the content of list, can choose and transport
It send and the relevant storage container of the list 4.
Workspace 4 is equipped near operation console, operation console works for distributing article to be transported to mobile robot 1
Multiple scenes that area 4 is applied to goods transportation can be used for item picking for example, workspace 4 can be used for goods sorting,
Or other application scenarios operated to article are can be used for, here, the application scenarios to workspace 4 do not limit
System.
Mobile robot 1 is in the task of execution, it usually needs waits in line operation console to mobile robot 1 in workspace 4
The distribution of carry out task (for example, the article that distribution is to be transported, or the article transported in mobile robot 1 is sorted etc.),
At this point, mobile robot 1 usually requires to wait for a period of time in workspace 4, for this purpose, the lower section in the workspace 4 is equipped with nothing
Micro USB electricity transmitting terminal 5.
Wireless charging transmitting terminal 5 can carry out radio hair with various ways such as electromagnetic coupling, photoelectric coupling, electromagentic resonances
It penetrates.
By the current residual electricity for judging mobile robot, in that case it can be decided that whether mobile robot needs to carry out charging behaviour
Make, that is, the mobile robot 1 can be allowed when the workspace is waited in line and/or be advanced through the path of travel
Wireless charging operation is executed when charged area in area.
It is usually provided with multiple mobile robots 1 in system, needs to carry out charge and discharge to all mobile robots in system
Electric control, for this purpose, a kind of specific implementation according to the ... of the embodiment of the present invention, the system also includes：Server 3, the clothes
Business device 3 controls the wireless charging operation of the mobile robot 1.Server 3 passes through wired or wireless mode and mobile machine
People is communicatively coupled.
Server 3 can carry out charge and discharge control according to a variety of strategies to mobile robot, and mobile robot is current
Residual electric quantity is the important evidence that server 3 formulates control strategy.A kind of specific implementation according to the ... of the embodiment of the present invention
Mode, the server obtain the voltage value of the mobile robot for the task that is carrying out.
When the voltage value is less than first threshold, the mobile machine of the server to the task that is carrying out
Human hair send charging instruction, be carrying out the mobile robot of task according to charging instruction when workspace is waited in line and/
Or wireless charging operation is executed at the charged area in being advanced through the path of travel area.Server 3 may be used a variety of
Mode determines and 1 matched wireless charging area of mobile robot.For example, server 3 can be searched and 1 distance of mobile robot
Wireless charging area that is nearest and being in idle condition, and specified mobile robot 1 is moved to the wireless charging area.
The case where according to 1 remaining capacity of mobile robot, server 3 can control mobile robot carry out charging operations or
Without charging operations, a kind of specific implementation according to the ... of the embodiment of the present invention, the server, which obtains, just to be arranged in workspace
The voltage value for the mobile robot that team waits for, when the voltage value is less than second threshold (for example, 30%),
The server sends charging instruction to the mobile robot just waited in line in workspace, the mobile robot according to
Charging instruction executes wireless charging operation when workspace is waited in line.
Alternatively situation, server can be mobile robot according to the remaining capacity situation of mobile robot 3
Determine that the priority of charging, a kind of specific implementation according to the ... of the embodiment of the present invention, the server obtain task to be allocated
The mobile robot voltage value, when the voltage value be less than third threshold value when, the server priority is
The mobile robot distributes task and sends assignment instructions and charging instruction, the mobile robot to the mobile robot
It is executed when workspace is waited in line and/or at the charged area in being advanced through the path of travel area according to charging instruction
Wireless charging operates.By this setup, can ensure to need the mobile robot to charge that can preferentially be filled in a hurry
Electricity.
The needs of mobile robot 1 carry out charging operations during conveying articles, server to mobile robot into
When row charging planning, the action path that mobile robot 1 is set simultaneously is needed, just can guarantee that mobile robot reaches side work in this way
Make the purpose of side charging.A kind of specific implementation according to the ... of the embodiment of the present invention includes travel path in the assignment instructions,
The travel path passes through the charged area in the path of travel area.
The charge value of mobile robot can pass to server in several ways, as an example, mobile machine
People can monitor oneself current charge condition at any time, when mobile robot finds that the low battery of oneself charges
When, mobile robot can oneself active reporting current charge value situation, and voltage value is sent to service by active
Device.A kind of specific implementation according to the ... of the embodiment of the present invention, the mobile robot detect the rechargable power supplies in real time
The voltage value is simultaneously sent to the server by voltage value.
In addition to this, server can also be according to the operating condition of mobile robot, and estimating the electricity of mobile robot makes
With situation, when the charge value that server estimates mobile robot is remaining few, the server is to the mobile robot
Transmission reports instruction, and the mobile robot is according to the voltage value for reporting rechargable power supplies described in command detection and will be described
Voltage value is reported to the server.
Charge value is reported by the way that different situations is arranged, can will avoid frequently sending meaningless charge value, and subtract
Having lacked frequent data item request influences or interferes for the performance of server or mobile robot.
It is carried out except charging operations except through the mode of server scheduling, mobile robot oneself can also look for filling
Electric region, to voluntarily be charged.As an example, mobile robot can the institute from acquisition system in server in advance
The position coordinates in the chargeable region having voluntarily go to chargeable region when mobile robot finds themselves in charge condition
Carry out charging operations.A kind of specific implementation according to the ... of the embodiment of the present invention, the mobile robot in real time obtain described in can
The voltage value of charge power supply, when the voltage value is less than four threshold values, the mobile robot is arranged in workspace
Automatically wireless charging operation is executed when team waits for and/or at the charged area in being advanced through the path of travel area.
Not all mobile robot is required for carrying out charging operations, for that need not carry out the movement of charging operations
For robot, in order to avoid the mobile robot to charge impacts it, it can voluntarily avoid being filled
The mobile robot of electricity.A kind of specific implementation according to the ... of the embodiment of the present invention, when the voltage value is greater than or equal to
When five threshold values, the mobile robot avoids the charged area when being advanced through the path of travel area automatically, alternatively,
The mobile robot when workspace is waited in line and/or at the charged area in being advanced through the path of travel area not
Execute wireless charging operation.So, a large amount of chargeable region is just actively saved, to need to carry out the shifting of charging operations
Mobile robot is provided convenience.
Charged area usually has certain length, and mobile robot is also required to move while charging, needs thus
Movement speed is arranged to the mobile robot in charged state.A kind of specific implementation according to the ... of the embodiment of the present invention,
When the voltage value is greater than or equal to six threshold values, the mobile robot is run with First Speed, and First Speed can
To be normal speed.
A kind of specific implementation according to the ... of the embodiment of the present invention, when the voltage value is less than six threshold values, institute
The charged area that mobile robot is advanced through with second speed in the path of travel area is stated, the second speed is less than first
Speed, such as second speed are the 50% of First Speed.
It, can also be by controlling nothing except through controlling except control of the movement speed of mobile robot to realize charging
The transmission power of micro USB electricity transmitting terminal controls the efficiency of charging.A kind of specific implementation according to the ... of the embodiment of the present invention, institute
Voltage value of the server based on mobile robot is stated, the transmission power of the wireless charging transmitting terminal is controlled.For low electricity
The mobile robot of amount, control wireless charging transmitting terminal are charged with higher tranmitting frequency, electricity are not influenced to move
Robot normal operation, wireless charging transmitting terminal carries out charging operations using lower tranmitting frequency.By controlling wireless charging
Electric transmitting terminal carries out charging operations with different transmission powers, on the one hand can save energy, still further aspect is also possible to prevent
The excessive battery caused in mobile robot of charge power damages.
A kind of mobile robot with wireless charging function provided in an embodiment of the present invention, by being arranged in robot
Wireless charging module, the robot that can make can carry out charging operations in workspace, utilize machine while work
People is lined up or transports the off time of cargo, carries out effective Charge Management so that robot be not necessarily to when electricity is low into
Row charging operations, and then improve the transport efficiency of robot.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be multiple, and term " one " is no
It can be interpreted as the limitation to quantity.
Although for example the ordinal number of " first ", " second " etc. will be used to describe various assemblies, not limit those herein
Component.The term is only used for distinguishing a component and another component.For example, first assembly can be referred to as the second component, and it is same
Sample, the second component can also be referred to as first assembly, without departing from the introduction of inventive concept.Term as used herein " and/
Or " project listed any for including one or more associations and all combinations.
Term used herein is only used for describing the purpose of various embodiments and is not intended to limit.As used herein,
Singulative is intended to also include plural form, makes an exception unless the context clearly dictates.Will further be understood that term " comprising " and/or
" having " specifies depositing for the feature, number, step, operation, component, element or combinations thereof when being used in this specification
, and it is not excluded for the presence or additional of one or more of the other feature, number, step, operation, component, element or its group.
Term used herein including technical and scientific term has and the normally understood art of those skilled in the art
The identical meaning of language, only if it were not for being defined differently than the term.It should be understood that the term tool limited in usually used dictionary
There is the meaning consistent with the meaning of term in the prior art.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, all answer by the change or replacement that can be readily occurred in
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of mobile robot with wireless charging function, including chassis, shell, driving motor, running gear and turn
To device, which is characterized in that further include：
Charge power supply, the charge power supply provide electric power for the mobile robot；
Communication device, the communication device and the wireless charging emitter communication link positioned at workspace and/or path of travel area
It connects, for sending wireless charging request and receiving wireless charging response；
Wireless charging receiver, the wireless charging receiver are that the charge power supply executes wireless charging operation；And
Main control chip, the main control chip the mobile robot because of execution task when workspace is waited in line and/or row
When by path of travel area, controls the communication device and emit to positioned at the wireless charging in workspace and/or path of travel area
Device sends wireless charging request, and controls wireless charging receiver when the communication device receives wireless charging response
It charges for the charge power supply.
2. the mobile robot according to claim 1 with wireless charging function, which is characterized in that further include electricity inspection
Device is surveyed, the electric quantity detection apparatus detects the voltage value of the charge power supply and is transferred to the main control chip in real time；
The main control chip controls the communication device and the voltage value is sent to server；
The communication device is also connect with the server communication, is additionally operable to send the voltage value and receive charging to refer to
It enables and is transferred to the main control chip；
The main control chip controls the communication device to the nothing positioned at workspace and/or path of travel area according to charging instruction
Micro USB electricity emitter sends wireless charging request, and controls wireless charging when the communication device receives wireless charging response
Electric reception device charges for the charge power supply.
3. the mobile robot according to claim 1 with wireless charging function, which is characterized in that further include electricity inspection
Device is surveyed, the electric quantity detection apparatus detects the voltage value of the charge power supply and is transferred to the main control chip in real time；
When the voltage value is less than first threshold, communication device is to positioned at work described in the main control chip active control
The wireless charging emitter in area and/or path of travel area sends wireless charging request, and receives nothing in the communication device
Wireless charging receiver is controlled when micro USB electroresponse to charge for the charge power supply.
4. the mobile robot according to claim 3 with wireless charging function, which is characterized in that
When the voltage value is greater than or equal to first threshold, it is logical in traveling that the main control chip controls the running gear
Automatically the region equipped with wireless charging emitter is avoided when crossing the path of travel area, alternatively, the main control chip controls institute
Wireless charging receiver is stated not execute when workspace is waited in line and/or when being advanced through the path of travel area wirelessly
Charging operations.
5. having the mobile robot of wireless charging function according to claim 2-4 any one of them, it is characterised in that：
When the voltage value is greater than or equal to first threshold, the main control chip controls the running gear with the first speed
Degree operation.
6. the mobile robot according to claim 5 with wireless charging function, it is characterised in that：
When the voltage value is less than first threshold, the main control chip is controlled the running gear and is advanced with second speed
By being equipped with the region of wireless charging emitter in the path of travel area, the second speed is less than First Speed.
7. the mobile robot according to claim 1 with wireless charging function, which is characterized in that the wireless charging
Reception device, including：
One or more charge coils, one or more of charge coils are set to chassis or the shell of the mobile robot
On.
8. the mobile robot according to claim 1 with wireless charging function, which is characterized in that the mobile machine
People further includes：
Obstacle avoidance apparatus, the obstacle avoidance apparatus obtain the position coordinates of the mobile robot to charge on mobile route, and control
The mobile robot that mobile robot automatic dodging processed is charging.
9. the mobile robot according to claim 8 with wireless charging function, it is characterised in that：
When mobile robot carries out wireless charging, other mobile robots transmission into predeterminable area is kept away the obstacle avoidance apparatus
Hinder signal.
10. the mobile robot according to claim 7 with wireless charging function, which is characterized in that the moving machine
Device people further includes：
The wireless signal that the charge coil is sensed is converted to chargeable electricity by charging converter, the charging converter
Stream；
Power calculator, the power match device determine the charging work(of the charge coil according to the size of the chargeable electric current
Rate, the main control chip estimate charge capacity and remaining charging time based on the charge power.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810577626.7A CN108555968B (en) | 2018-06-06 | 2018-06-06 | Mobile robot with wireless charging function |
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| CN201810577626.7A CN108555968B (en) | 2018-06-06 | 2018-06-06 | Mobile robot with wireless charging function |
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| WO2021135668A1 (en) * | 2019-12-31 | 2021-07-08 | 青岛海高设计制造有限公司 | Method and device for configuring articles and delivery device |
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| Publication number | Publication date |
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| CN108555968B (en) | 2024-06-11 |
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